yarpmotorgui: move the joints of a robot

Table of Contents

• Description
• Parameters
• Ports Accessed
• Ports Created
• Configuration Files

A simple graphical interface for moving all the joints of a robot with sliders.

Uses remote control boards.

Description

This GUI can be used for the following pouposes:

• continuosly reading the position of the ALL the robot joints
• running/idling single joints
• running ALL the robot joints
• position command of single joints
• changing the velocity of the position commands
• performing sequences of position commands with the ALL robot joints
• calibrating single joints
• checking if the robot is in position ("@")

Parameters

--robot:    name of the robot (used to form port names)
--parts:    a list of parts to be added.
--skip:     skips the initial dialog and keeps the default parts.
--speed:    enables the speed visualisation.
--calib:    enables the calib buttons.
--debug:    opens the debugInterfaceClient (for firmware debugging).
--direct:   enables the position direct mode.
--openloop: enables the openloop mode.
--admin:    enables all the previous parameters (debug, direct, openloob, calib).

Example:

yarpmotorgui --robot icub --parts (head torso left_arm right_arm left_leg right_leg)

These parameters can be specified in a single file, passed with the –from option. Example:

yarpmotorgui --from yarpmotorgui.ini

By default yarpmotorgui starts using the file yarpmotorgui.ini in $ICUB_ROOT/app/default.

Home positions are obtained directly by the robot as specified in the Calibrator settings of the robot. It is nevertheless possible to specify custom configurations which can be executed by the corresponding menu action in the "Custom positions" submenu (present in both the Global Joints commands menu and in the single part Commands menu). A (multiple) custom position can be defined in the yarpmotorgui configuration file with the following syntax:

[customPosition_{CUSTOM_POSITION_NAME}]
{FULL_ROBOT_PART_NAME}_Position   0             0             0                  0             0             0
{FULL_ROBOT_PART_NAME}_Velocity                10            10            10                10            10            10

where {CUSTOM_POSITION_NAME} is the unique name associated to the custom configuration and {FULL_ROBOT_PART_NAME} is the name which fully specifies the robot part, e.g. "/icub/torso". Note that both Position and Velocity elements must be present, and the number of joints must match the the number of axes for the part. The following is an example of custom configuration

[customPosition_OnChair]
/icub/head_Position            0             0             0          0             0          0
/icub/head_Velocity            10            10            10            10            10         10
/icub/torso_Position           0             0             0
/icub/torso_Velocity           10            10            10
/icub/left_arm_Position      -90.00         11.0000       80.00         15.00         0.00          0.00          0.00
/icub/left_arm_Velocity       10            10            10            10            10            10            10
/icub/right_arm_Position      -90.00         11.0000       80.00         15.00        -0.00          0.00         -0.00
/icub/right_arm_Velocity       10            10            10            10            10            10            10
/icub/right_leg_Position      84.00         12            0            -87.00         0.00          0
/icub/right_leg_Velocity      10            10            10            10            10            10
/icub/left_leg_Position            84.00         12            0            -87.00         0.00          0
/icub/left_leg_Velocity            10            10            10            10            10            10

A set of calibration parameters can be optionally defined in the supplied file. These calibration parameters follow the same standard followed by the icub_iCubInterface and can be specified within the group part_calib:

[head_calib]
CalibrationType     0          0        0         0          0          0
Calibration1    500.0      1000.0    900.0     300.0     1333.0     1333.0
Calibration2     20.0        20.0     20.0     -20.0        5.0        5.0
Calibration3      0.0         0.0      0.0       0.0        0.0        0.0

A set of parameters can be optionally specified in order to open a set of tabs which allow cartesian movements trough the cartesian interfaces (see the tutorial icub_cartesian_interface). These cartesian interfaces can be enabled by inserting a group [cartesian] in the yarpmotorgui initialization file. This group should contain the name of the robot parts which should be controlled in the cartesian space:

[cartesian]
left_arm
...
right_leg

Each part initialized with the cartesian interface should be properly configured by specifying the limits for the cartesian workspace.

[left_arm_workspace]
xmin xm
xmax xM
 
ymin ym
ymax yM
 
zmin zm
zmax zM

In order to make the cartesian tabs working you need to be sure that that the Cartesian Solvers are running and working.

Ports Accessed

For each part initialized (e.g. right_leg):

• /icub/right_leg/rpc:i
• /icub/right_leg/command:i
• /icub/gui/right_leg/state:i

Ports Created

For each part initialized (e.g. right_leg):

• /icub/gui/right_leg/rpc:o
• /icub/gui/right_leg/command:o
• /icub/right_leg/state:o

Configuration Files

Passed with the parameter –from, configure the layout of the gui.

robot icub
parts (head torso right_arm left_arm)

Creates a gui. Connects automatically to:

/icub/head/*
/icub/torso/*
/icub/right_arm/*
...